#include "Valve_2006.h"

void Valve_2006_Setup(Motor_Ctrl_Node *node, uint8_t CAN_GROUP_x, uint8_t id, PID_Struct *spd_pid, DacePID_Struct *pos_pid)
{
    *spd_pid = PID_Get_RM3508_Speed_Pid();
    MotorNode_Init_C610(CAN_GROUP_x, id, node);
    MotorNode_Add_SpeedPid(node, spd_pid);
    MotorNode_Add_DaceAnglePid(node, pos_pid);

    node->Max_Current = 5000;
    MotorNode_Add(CAN_GROUP_x, node);
}

uint8_t Valve_2006_Set(Motor_Ctrl_Node *node)
{
    return MotorNode_Update_AngleFull(0.0f, node);
}
uint8_t Valve_2006_Reset(Motor_Ctrl_Node *node)
{
    return MotorNode_Update_AngleFull(3300.0f, node);
}
